Inertia measurement unit calibration system based on high-precision motion capture system

Abstract

An inertia measurement unit calibration system based on a high-precision motion capture system comprises a data acquisition module, a posture factor module, a speed factor module and a position factormodule; the data acquisition module acquires information of position and posture of the motion capture system and acceleration and angular velocity of an inertia measurement unit; the posture factormodule is connected with the data acquisition module, and used for optimizing posture factors and calculating zero-offset parameter of a gyroscope and relative rotation among multiple coordinates of the inertia measurement unit; the speed factor module is connected with the data acquisition module and the posture factor module and used for estimating zero-offset parameter of an accelerometer according to the zero-offset parameter of the gyroscope, the relative rotation among the coordinates and the information of position and postures; the position factor module is connected with the data acquisition module and the speed factor module and used for further optimizing parameter calculated through the speed factor module according to the information of position and postures and then outputting the optimized calibrated result. The high-precision motion capture system is used for calibration, so that existing data acquisition process is facilitated, special operation is omitted, an open-source data set of truth value data including position and posture is provided, and high precision can be achieved.

Description

technical field [0001] The invention relates to a technology in the field of indoor inertial navigation, in particular to an inertial measurement unit calibration system based on a high-precision motion capture system. Background technique [0002] The current inertial measurement unit (IMU) calibration scheme usually requires the help of some additional equipment and actions, such as high-precision turntable, six-face method, etc. The calibration process is usually complicated, requires manual operation and takes a long time to calibrate. A calibration takes at least half an hour to an hour. Contents of the invention [0003] The present invention aims at the above-mentioned deficiencies in the prior art, and proposes an inertial measurement unit calibration system based on a high-precision motion capture system. First, the position information and attitude information from the motion capture system and the acceleration and angular velocity information from the inertial m...

AI Technical Summary

Problems solved by technology

The calibration process is usually complicated, requires manual operation and takes a long time to calibrate. A calibration takes at least half an hour to an hour

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